Rebuild trinity visualizer from bare SDL and OpenGL to using Raylib. Added Code for serial parsing on linux. Current functionality reads incoming quaternion packet data coming in over serial and displays the values and also visualizes with a cube, connect and disconnect is implemented. Essentially rebuild the functionality of the old version with added linux support.

2026-09-13 19:44:26 +02:00
commit 62abf4d5d6
821 changed files with 239694 additions and 0 deletions
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+#include "scalar_constants.hpp"
+
+namespace glm
+{
+	template<typename T, qualifier Q>
+	GLM_FUNC_QUALIFIER T angle(qua<T, Q> const& x)
+	{
+		if (abs(x.w) > cos_one_over_two<T>())
+		{
+			T const a = asin(sqrt(x.x * x.x + x.y * x.y + x.z * x.z)) * static_cast<T>(2);
+			if(x.w < static_cast<T>(0))
+				return pi<T>() * static_cast<T>(2) - a;
+			return a;
+		}
+
+		return acos(x.w) * static_cast<T>(2);
+	}
+
+	template<typename T, qualifier Q>
+	GLM_FUNC_QUALIFIER vec<3, T, Q> axis(qua<T, Q> const& x)
+	{
+		T const tmp1 = static_cast<T>(1) - x.w * x.w;
+		if(tmp1 <= static_cast<T>(0))
+			return vec<3, T, Q>(0, 0, 1);
+		T const tmp2 = static_cast<T>(1) / sqrt(tmp1);
+		return vec<3, T, Q>(x.x * tmp2, x.y * tmp2, x.z * tmp2);
+	}
+
+	template<typename T, qualifier Q>
+	GLM_FUNC_QUALIFIER qua<T, Q> angleAxis(T const& angle, vec<3, T, Q> const& v)
+	{
+		T const a(angle);
+		T const s = glm::sin(a * static_cast<T>(0.5));
+
+		return qua<T, Q>(glm::cos(a * static_cast<T>(0.5)), v * s);
+	}
+}//namespace glm